#ifndef _process_gps_data_
#define _process_gps_data_

#include "zf_common_typedef.h"

typedef struct
{
    double target_angle;
	double Error_distance;
	int16 error_angle;
	
	double recent_azimuth;
	float target_azimuth;
	double gps_imu_angle;
	
	int8 gps_point_index;
	double gps_error;
}gps_imu_struct;

extern gps_imu_struct gps_imu_info;

extern float alpha_imu_gps;

void GPS_IMU_angle_fusion (float angle_GPS,float angle_IMU);
void gps_tracking(double recent_latitude,double recent_longitude,double target_latitude,double target_longitude);
void gps_tracking_next(void);

#endif
